version: 66.02
glider: 128
mission: 2
dive: 93
start: 9 9 107 0 41 46
data:
$ID,128
$MISSION,2
$DIVE,93
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51503
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-61020.715
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,003631,4807.027,-12222.875,37,1.2,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.9
$GPS2,004045,4807.007,-12222.871,11,1.2,11,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,-0.130
$KALMAN_X,7291.4,48.5,-17.8,-6057.4,-100.3
$KALMAN_Y,3061.2,101.3,7.4,-5872.4,-1.4
$MHEAD_RNG_PITCHd_Wd,121.7,2154,-13.2,-6.000
$D_GRID,105
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.78,-146.6,0.0,0.0,0,99,0.00,0.00,-76.85,0.000,2,0.000,0.000,13,2171,3334
$GC,101,-0.78,-146.6,3.8,-4.1,14,120,10.40,2.38,-1.27,0.000,4,0.214,0.054,2560,743,3400
$GC,422,-0.78,-146.6,30.1,-6.5,57,429,0.00,2.30,0.00,0.000,6,0.000,0.035,2558,2137,3402
$GC,620,-0.78,-146.6,41.4,-5.8,76,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2138,3402
$GC,811,-0.78,-146.6,53.1,-6.2,94,815,0.00,2.35,0.00,0.000,4,0.000,0.052,2553,3566,3403
$GC,848,-0.78,-146.6,55.6,-6.6,97,856,0.00,2.28,0.00,0.000,6,0.000,0.028,2553,2143,3403
$GC,1174,-0.78,-146.6,76.4,-6.6,128,1178,0.00,2.35,0.00,0.000,4,0.000,0.053,2553,3558,3403
$GC,1263,-0.78,-146.6,82.5,-7.0,136,1267,0.00,2.22,0.00,0.000,6,0.000,0.028,2553,2144,3403
$STATE,1384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1384,begin apogee
$GC,1388,-0.23,0.0,90.6,6.5,147,1507,0.62,0.00,114.20,0.874,6,0.110,0.000,2748,2077,2800
$STATE,1508,end apogee,CONTROL_FINISHED_OK
$STATE,1508,begin climb
$GC,1510,0.78,146.6,93.0,0.0,159,1626,0.98,0.00,112.07,0.687,6,0.079,0.000,3066,2076,2202
$GC,1940,0.78,146.6,66.0,6.5,200,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2076,2200
$GC,2259,0.78,146.6,43.9,6.7,230,2262,0.00,2.35,0.00,0.000,4,0.000,0.049,3067,3489,2199
$GC,2296,0.78,146.6,41.0,7.5,233,2303,0.00,2.30,0.00,0.000,6,0.000,0.033,3070,2089,2199
$GC,2494,0.78,146.6,27.2,7.2,252,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2089,2198
$GC,2690,0.78,146.6,14.0,6.2,278,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2089,2198
$GC,2764,0.78,146.6,9.4,6.4,291,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2089,2198
$GC,2837,0.79,150.9,4.9,5.9,304,2843,0.00,0.00,3.92,0.561,6,0.000,0.000,3070,2089,2184
$STATE,2904,end climb,SURFACE_DEPTH_REACHED
$STATE,2904,begin surface coast
$FINISH,0.7,1.024523
$STATE,2967,end surface coast,CONTROL_FINISHED_OK
$STATE,2967,begin surface
$SM_CCo,2983,101.38,0.842,0,0,1372,350.04
$SM_GC,1.00,0.00,0.00,101.38,0.000,0.000,0.842,2,2170,1372,-8.81,0.54,350.04
$IRIDIUM_FIX,4751.72,-12219.12,090907,030322
$TT8_MAMPS,0.026078
$HUMID,1855
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.3,54.8
$24V_AH,24.4,15.983
$10V_AH,10.8,6.272
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,20.625,18.700,230.200,101.375,0.000,37.919,41.245,104.878,0.250,0.000,0.000,13.200,541.883,1519.622,386.805,655.266,261.511,33.339,716.997,0.000,672.474,0.000,3.291
$DEVICE_MAMPS,213.993,93.574,874.380,842.166,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,234.007,257.566,551.736,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15923,327
$CFSIZE,260165632,255082496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,013357,4806.805,-12222.466,12,1.6,13,18.3